Cleanup, and add specific targets for crossbow

hardware/targets.json

@@ -548,5 +548,34 @@
                 "platform": "esp8285"
             }
         }
+    },
+    "mfd-crossbow": {
+        "name": "MFD Crossbow Antenna Tracker Backpack",
+        "vrx": {
+            "esp82": {
+                "product_name": "Generic ESP8285 Receiver",
+                "firmware": "MFD_Crossbow_ESP8285_Backpack",
+                "upload_methods": ["uart", "wifi"],
+                "platform": "esp8285"
+            },
+            "esp32": {
+                "product_name": "Generic ESP32 Receiver",
+                "firmware": "MFD_Crossbow_ESP32_Backpack",
+                "upload_methods": ["uart", "wifi"],
+                "platform": "esp32"
+            },
+            "esp32c3": {
+                "product_name": "Generic ESP32C3 Receiver",
+                "firmware": "MFD_Crossbow_ESP32C3_Backpack",
+                "upload_methods": ["uart", "wifi"],
+                "platform": "esp32-c3"
+            },
+            "esp32s3": {
+                "product_name": "Generic ESP32S3 Receiver",
+                "firmware": "MFD_Crossbow_ESP32S3_Backpack",
+                "upload_methods": ["uart", "wifi"],
+                "platform": "esp32-s3"
+            }
+        }
     }
 }

lib/MSP/msp.h

@@ -6,7 +6,7 @@
 // dynamically allocate array length based on the payload size
 // Hardcoding payload size to 64 bytes for now, to allow enough space
 // for custom OSD text.
-#define MSP_PORT_INBUF_SIZE 128
+#define MSP_PORT_INBUF_SIZE 64
 
 #define CHECK_PACKET_PARSING() \
   if (packet->readError) {\

src/Vrx_main.cpp

@@ -74,8 +74,6 @@ bool gotInitialPacket = false;
 bool headTrackingEnabled = false;
 uint32_t lastSentRequest = 0;
 
-uint32_t lastSentGPS = 0;
-
 device_t *ui_devices[] = {
 #ifdef PIN_LED
   &LED_device,
@@ -104,9 +102,6 @@ MSP msp;
 ELRS_EEPROM eeprom;
 VrxBackpackConfig config;
 
-uint8_t cachedGPS[64];
-uint8_t cachedLen = 0;
-
 #ifdef RAPIDFIRE_BACKPACK
   Rapidfire vrxModule;
 #elif defined(RX5808_BACKPACK)
@@ -535,24 +530,10 @@ void loop()
   if (!gotInitialPacket && now - VRX_BOOT_DELAY < 5000 && now - lastSentRequest > 1000 && connectionState != binding)
   {
     DBGLN("RequestVTXPacket...");
-    // RequestVTXPacket();
+    RequestVTXPacket();
     lastSentRequest = now;
   }
 
-  // spam out GPS msgs
-  if (cachedLen > 0 && now - lastSentGPS > 100 && connectionState != binding)
-  {
-    DBGLN("Send cached GPS...");
-    Serial.write(cachedGPS, cachedLen);
-    lastSentGPS = now;
-    DBGLN("*** GPS CACHE ***");
-    for(int i = 0; i < cachedLen; i++)
-    {
-      DBG("%x,", cachedGPS[i]); // Debug prints
-    }
-    DBGLN(""); // Extra line for serial output readability
-  }
-
 #if !defined(NO_AUTOBIND)
   // Power cycle must be done within 30s.  Long timeout to allow goggles to boot and shutdown correctly e.g. Orqa.
   if (now > BINDING_TIMEOUT && config.GetBootCount() > 0)

src/mfd_crossbow.cpp

@@ -12,31 +12,17 @@ uint8_t system_state = 4;     // 0 = unknown, 3 = standby, 4 = active
 uint32_t upTime = 0;          // System uptime, usually set to 0 for cases where it doesn't matter
 
 // Flight parameters
-float roll = 0;         // Roll angle in degrees
-float pitch = 0;        // Pitch angle in degrees
-float yaw = 0;          // Yaw angle in degrees
 int16_t heading = 0;    // Geographical heading angle in degrees
 float lat = 0.0;        // GPS latitude in degrees (example: 47.123456)
 float lon = 0.0;        // GPS longitude in degrees
 float alt = 0.0;        // Relative flight altitude in m
-float lat_temp = 0.0;   //Temp values for GPS coords
-float lon_temp = 0.0; 
 float groundspeed = 0.0; // Groundspeed in m/s
-float airspeed = 0.0;    // Airspeed in m/s
-float climbrate = 0.0;   // Climb rate in m/s, currently not working
-float throttle = 0.0;    // Throttle percentage
 
 // GPS parameters
 int16_t gps_sats = 0;     // Number of visible GPS satellites
 int32_t gps_alt = 0.0;    // GPS altitude (Altitude above MSL)
 float gps_hdop = 100.0;   // GPS HDOP
-uint8_t fixType = 0;      // GPS fix type. 0-1: no fix, 2: 2D fix, 3: 3D fix
-
-// Battery parameters
-float battery_remaining = 0.0;  // Remaining battery percentage
-float voltage_battery = 0.0;    // Battery voltage in V
-float current_battery = 0.0;    // Battery current in A
-
+uint8_t fixType = 3;      // GPS fix type. 0-1: no fix, 2: 2D fix, 3: 3D fix
 
 void
 MFDCrossbow::send_heartbeat(uint8_t system_id, uint8_t component_id, uint8_t system_type, uint8_t autopilot_type, uint8_t system_mode, uint32_t custom_mode, uint8_t system_state)
@@ -46,7 +32,7 @@ MFDCrossbow::send_heartbeat(uint8_t system_id, uint8_t component_id, uint8_t sys
     uint8_t buf[MAVLINK_MAX_PACKET_LEN];
 
     // Pack the message
-    mavlink_msg_heartbeat_pack(system_id,component_id, &msg, system_type, autopilot_type, system_mode, custom_mode, system_state);
+    mavlink_msg_heartbeat_pack(system_id, component_id, &msg, system_type, autopilot_type, system_mode, custom_mode, system_state);
 
     // Copy the message to the send buffer
     uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
@@ -80,6 +66,7 @@ MFDCrossbow::send_gps_raw_int(int8_t system_id, int8_t component_id, int32_t upT
     // Copy the message to the send buffer
     uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
 
+    // Send the message
     m_port->write(buf, len);
 }
 
@@ -112,29 +99,18 @@ MFDCrossbow::SendGpsTelemetry(crsf_packet_gps_t *packet)
     lat = static_cast<double>(rawLat);
     lon = static_cast<double>(rawLon);
 
+    // Convert from CRSF scales to mavlink scales
     groundspeed = be16toh(packet->p.speed) / 36.0 * 100.0;
     heading = be16toh(packet->p.heading);
     alt = (be16toh(packet->p.altitude) - 1000) * 1000.0;
     gps_sats = packet->p.satcnt;
-
-    // m_port->println("GPS lat: ");
-    // m_port->println(lat);
-    // m_port->println("GPS lon: ");
-    // m_port->println(lon);
-    // m_port->println("GPS speed: ");
-    // m_port->println(groundspeed); 
-    // m_port->println("GPS heading: ");
-    // m_port->println(heading);
-    // m_port->println("GPS altitude: ");
-    // m_port->println(alt);
-    // m_port->println("GPS satellites: ");
-    // m_port->println(gps_sats);
 
+    // Send heartbeat and GPS mavlink messages to the tracker
     send_heartbeat(system_id, component_id, system_type, autopilot_type, system_mode, custom_mode, system_state);
     send_gps_raw_int(system_id, component_id, upTime, fixType, lat, lon, alt, gps_alt, heading, groundspeed, gps_hdop, gps_sats);
     send_global_position_int(system_id, component_id, upTime, lat, lon, alt, gps_alt, heading);
 
-    // We have received gps values, so we are ok to spam these out at 10hz
+    // Log the last time we received new GPS coords
     gpsLastUpdated = millis();
 }
 
@@ -143,7 +119,7 @@ MFDCrossbow::Loop(uint32_t now)
 {
     ModuleBase::Loop(now);
 
-    // If the GPS has been updated in the last 10 seconds, keep spamming it out at 10hz
+    // If the GPS data is <= 10 seconds old, keep spamming it out at 10hz
     bool gpsIsValid = (now < gpsLastUpdated + 10000) && gps_sats > 0;
 
     if (now > gpsLastSent + 100 && gpsIsValid)
@@ -154,4 +130,4 @@ MFDCrossbow::Loop(uint32_t now)
 
         gpsLastSent = now;
     }
-}
+}